/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "package.h"
#include "motor.h"
#include "data_cal.h"
#include "oled.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
enum ACTION
{
  STOP = 0,
  MOVE
};
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

u8 Rec_Data[19] = {0};
enum ACTION Flag = STOP;
u8 test_data[3];
u8 test_flag = 0;
int step[6] = {0};

float angleset[7] = {0};
// usart的dma
u8 dma_test[19] = {0};

#define BUF_SIZE 95
#define PACKAGE_SIZE 19
    uint8_t dma_buffer1[BUF_SIZE];
uint8_t dma_buffer2[BUF_SIZE];
volatile uint8_t current_active_buffer = 0; // 0: buffer1, 1: buffer2
volatile uint16_t last_received_size = 0;
volatile uint8_t new_data_available = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
  if (huart->Instance == USART1)
  {
    // 记录接收到的数据量
    last_received_size = Size;

    // 切换缓冲区
    // if (current_active_buffer == 0)
    // {
    //   current_active_buffer = 1;
    //   HAL_UARTEx_ReceiveToIdle_DMA(&huart1, dma_buffer2, BUF_SIZE);
    // }
    // else
    // {
    //   current_active_buffer = 0;
    //   HAL_UARTEx_ReceiveToIdle_DMA(&huart1, dma_buffer1, BUF_SIZE);
    // }
    HAL_UARTEx_ReceiveToIdle_DMA(&huart1, dma_test, 19);
    Flag = MOVE;
    // 设置新数据可用标志
    new_data_available = 1;
  }
}

void function(void)
{
  HAL_GPIO_TogglePin(joint5_GPIO_Port, joint5_Pin);
}
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  Motor_Init();

  /*这里是机械臂寻找复位
  ，还有oled的初始化，但是不知道为什么，这里oled初始化会出错，*/
  // OLED_Init();  // OLED初始
  // OLED_Clear(); // 清屏
  // Reset_joint();

  // HAL_UART_Receive_IT(&huart1, Rec_Data, sizeof(Rec_Data));
  // HAL_UART_Receive_IT(&huart1, test_data, sizeof(test_data));
  // HAL_UARTEx_ReceiveToIdle_DMA(&huart1, dma_buffer1, BUF_SIZE);
  HAL_UARTEx_ReceiveToIdle_DMA(&huart1, dma_test, 19);
  float temp[6] = { 1.0892242055348749, -0.17332101096690133, 1.0859638345521907, -0.00022042666860048007, 1.8829263017972695, -0.48260819561700136};
  // 1.0892242055348749, -0.17332101096690133, 1.0859638345521907, -0.00022042666860048007, 1.8829263017972695, -0.48260819561700136

  // HAL_Delay(200);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    if (Flag == MOVE)
    {
      // OLED_ShowString(16, 1, test_data, sizeof(test_data), 0);
      // if (new_data_available == 1)
      // {
        // usartReceiveOneData(current_active_buffer == 0 ? dma_buffer2 : dma_buffer1, &huart1, angleset);
        usartReceiveOneData(dma_test, &huart1, angleset);
      //   new_data_available = 0; // 重置标志位
      // }
      motor_cal(angleset, step);
      Motor_Dir();
      Motor_Move(step);
      Flag = STOP; // 重置标志位
    }
    // HAL_Delay(500);
    // usartSendData(&huart1);
    // usartReceiveOneData(current_active_buffer == 0 ? dma_buffer2 : dma_buffer1, &huart1, angleset);
    // if (flag == 0)
    // {
    //   motor_cal(temp, step);
    //   Motor_Dir();
    //   Motor_Move(step);
    //   flag = 1;
    // }
    // HAL_Delay(1000);
    // for_delay_us(1000);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }

  // motor_cal(temp, step);
  // Motor_Dir();
  // Motor_Move(step);
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 72;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
